U.S. patent application number 17/593954 was filed with the patent office on 2022-05-26 for parking assistance system.
This patent application is currently assigned to Conti Temic microelectronic GmbH. The applicant listed for this patent is Conti Temic microelectronic GmbH. Invention is credited to Markus Eich, Markus Friebe, Charlotte Gloger, Frank Kittmann.
Application Number | 20220161723 17/593954 |
Document ID | / |
Family ID | 1000006195471 |
Filed Date | 2022-05-26 |
United States Patent
Application |
20220161723 |
Kind Code |
A1 |
Eich; Markus ; et
al. |
May 26, 2022 |
PARKING ASSISTANCE SYSTEM
Abstract
The exemplary embodiments relate to a parking assistance system
for a vehicle, designed to present surroundings of the vehicle. The
parking assistance system can include at least one camera designed
to record at least one image. The parking assistance system may use
a grid structure to present the surroundings of the vehicle for a
user. Additionally, the parking assistance system may have an image
evaluation unit designed to determine the relative position and the
orientation of another vehicle depicted in the image. Additionally,
the image evaluation unit may be designed to adapt a grid structure
on the basis of the determined orientation of the other vehicle,
with the image being projected onto the adapted grid structure.
Inventors: |
Eich; Markus; (Ulm, DE)
; Gloger; Charlotte; (Ulm, DE) ; Kittmann;
Frank; (Ulm, DE) ; Friebe; Markus; (Gefrees,
DE) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Conti Temic microelectronic GmbH |
Nurnberg |
|
DE |
|
|
Assignee: |
Conti Temic microelectronic
GmbH
Nurnberg
DE
|
Family ID: |
1000006195471 |
Appl. No.: |
17/593954 |
Filed: |
March 18, 2020 |
PCT Filed: |
March 18, 2020 |
PCT NO: |
PCT/DE2020/200019 |
371 Date: |
September 29, 2021 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06T 2207/30264
20130101; G06V 10/44 20220101; B60R 2300/806 20130101; G06T 7/75
20170101; B60R 11/04 20130101; B60R 1/002 20130101; G06V 20/586
20220101 |
International
Class: |
B60R 1/00 20060101
B60R001/00; B60R 11/04 20060101 B60R011/04; G06T 7/73 20060101
G06T007/73; G06V 20/58 20060101 G06V020/58; G06V 10/44 20060101
G06V010/44 |
Foreign Application Data
Date |
Code |
Application Number |
Apr 2, 2019 |
DE |
10 2019 204 656.8 |
Claims
1. A parking assistance system for a vehicle, designed to present
surroundings of the vehicle, having: at least one camera configured
to record at least one image, wherein the parking assistance system
uses a grid structure to present the surroundings of the vehicle
for a user, and an image evaluation unit configured: to determine
an orientation of another vehicle depicted in the at least one
image, to adapt the grid structure on the basis of the determined
orientation of the other vehicle, and to project the at least one
image onto the adapted grid structure.
2. The parking assistance system according to claim 1, wherein the
grid structure comprises a geometrical form.
3. The parking assistance system according to claim 2, wherein the
image evaluation unit is configured to adapt the geometrical form,
by bending, to the orientation of the other vehicle.
4. The parking assistance system according to claim 2, wherein the
grid structure additionally comprises a generic vehicle model.
5. The parking assistance system according to claim 4, wherein the
image evaluation unit is configured to adapt the generic vehicle
model, by at least one of scaling, movement or rotation, to the
orientation of the other vehicle.
6. The parking assistance system according to claim 4, wherein the
image evaluation unit is configured to adapt the generic vehicle
model in the geometrical form, by at least one of scaling, movement
or rotation, to the orientation of the other vehicle.
7. The parking assistance system according to any one of the
preceding claims, wherein the image evaluation unit for determining
the orientation of the other vehicle is configured: to recognize a
bottom surface in the at least one image, to identify at least two
wheels of the other vehicle in the at least one image, to establish
a circumferential contour of the wheels in each case, to form an
intersection between the bottom surface and the circumferential
contour in each case, by establishing a point on the
circumferential contour of the wheel closest to the camera.
8. The parking assistance system according to claim 7, wherein the
image evaluation unit is further configured to perform a
plausibility check of at least one of the bottom surface, the
wheels the circumferential contour, the intersections and/or the
orientation of the other vehicle.
9. The parking assistance system according to claim 1, wherein the
image evaluation unit is configured to establish at least one of a
front region or a rear region of the other vehicle, and to
orientate the grid structure on the basis of the at least one of
the front region or the rear region.
10. A method for presenting the surroundings, of a vehicle,
comprising: recording an image of the surroundings of the vehicle,
presenting the surroundings of the vehicle using a grid structure,
determining an orientation of another vehicle depicted in the
image, adapting the grid structure on the basis of the orientation
of the other vehicle, and projecting the image onto the adapted
grid structure.
11. The method according to claim 10, further comprising:
recognizing a bottom surface in the image, identifying at least two
wheels of the other vehicle in the image, establishing a
circumferential contour for each of the at least two wheels,
forming an intersection between the bottom surface and the
circumferential contour by establishing a point on the
circumferential contour of the wheel closest to the camera, and
determining the orientation of the other vehicle on the basis of
the intersection.
12. The method according to claim 10, further comprising:
configuring a geometrical form, modifying the geometrical form on
the basis of the orientation of the other vehicle in order to
configure the adapted grid structure.
13. The method according to a claim 12, further comprising: forming
a generic vehicle model, positioning the generic vehicle model in
the geometrical form, adjusting the generic vehicle model by at
least one of scaling, movement or rotation, on the basis of the
orientation of the other vehicle in order to configure the adapted
grid structure.
14. A program unit stored n nontransitory memory and which, when
run in a parking assistance system, instructs the parking
assistance system to perform the method according to claim 1.
15. (canceled)
16. The parking assistance system according to claim 2, wherein the
geometrical from comprises a hemisphere.
17. The method according to claim 12, wherein the geometrical form
comprises a hemisphere.
18. The method according to claim 12, wherein modifying the
geometrical from comprises reshaping or bending the geometrical
form.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This application is a National Stage Application under 35
U.S.C. 371 of International Application No. PCT/DE2020/200019 filed
on Mar. 18, 2020, which claims priority from DE 10 2019 204 656.8,
filed on Apr. 2, 2019, the disclosures of which are herein
incorporated by reference in their entireties.
FIELD OF INVENTION
[0002] The invention relates to a parking assistance system for a
vehicle, designed to present surroundings of the vehicle. In
addition, the invention relates to a method for presenting the
surroundings of a vehicle as well as a program unit and a
computer-readable medium.
BACKGROUND
[0003] During the presentation of three-dimensional surroundings of
a vehicle in a surround-view system, the distance from other cars
and objects is not known, unless additional sensors are deployed.
Typically, the three-dimensional surroundings are generated with
the aid of a hemisphere, with the images captured by the cameras
being projected onto the hemisphere. This typically leads to
optical artifacts if the projected object is closer to the vehicle
than the associated projection surface of the hemisphere. In
particular, this can make it difficult to maneuver a car during the
process of pulling into or out of a parking space. By using various
sensors such as, for example, sonar or lidar, the distance between
the objects which triggers the optical artifacts and the car which
is to be maneuvered can be established; however, it is a costly and
elaborate process to position these sensors in the relevant
car.
SUMMARY
[0004] An improved parking assistance system can be advantageously
provided with embodiments of the invention.
[0005] The invention is defined in the independent claims.
Advantageous further developments of the invention are set out in
the dependent claims and in the following description.
[0006] Technical terms are used in their generally known form. If a
specific meaning is transferred to specific terms, definitions of
terms are provided below, within the framework of which the terms
are used.
[0007] An aspect of the invention relates to a parking assistance
system for a vehicle, designed to present surroundings of the
vehicle. The parking assistance system can include at least one
camera designed to record at least one image. The parking
assistance system can use a grid structure to present the
surroundings of the vehicle for a user. Additionally, the parking
assistance system can have an image evaluation unit designed to
determine an orientation of another vehicle depicted in the image.
Additionally, the image evaluation unit can be designed to adapt a
grid structure on the basis of the determined orientation of the
other vehicle, with the image being projected onto the adapted grid
structure.
[0008] The advantage of this embodiment can be that, due to the
adaptation of the grid structure to another vehicle, the
maneuvering of a car during the process of pulling into or out of a
parking space or similar is simplified for the user. In addition,
it can be an advantage that other expensive sensor devices can be
dispensed with and, simultaneously, the maneuverability of the
vehicle can be improved. Additionally, the perception for a user of
the parking assistance system can be improved since optical
artifacts no longer appear in the displayed image.
[0009] In other words, the parking assistance system captures an
image with the aid of a camera, which image is processed by the
image evaluation unit, so that an orientation of another vehicle
can be established in order to adapt or to optimize a grid
structure to present the surroundings of the vehicle, so that the
recorded image can be projected onto the adapted grid structure.
The camera can be a digital camera which has a signal connection to
the logic of the vehicle and/or the image evaluation unit. The
parking assistance system can be in a position to present the
surroundings of the vehicle on the display and/or on the head-up
display with the aid of a monitor, for example an ECU electronic
control unit and/or a head-up display. The grid structure can be a
virtual model which can be presented with the aid of nodes and the
connections thereof. The orientation of the other vehicle can in
particular be fixed based on a coordinate system, wherein the
origin of the coordinate system constitutes the midpoint of the
vehicle, for example. A possible construction of the parking
assistance system and the orientation of the other vehicle are
represented, inter alia, in FIG. 1 and are further explained in the
associated description of the figure. The position of the other
vehicle with respect to the vehicle can be determined on the basis
of the midpoint of the vehicle. The grid structure can be adapted
based on the position or the orientation of the other vehicle so
that it can correspond to the reality of the vehicle surroundings.
The adapted grid structure, which has been adapted to the
surroundings of the vehicle, is used to project the image recorded
by the camera onto the adapted grid structure so that an adapted
presentation of the surroundings can be presented on the monitor or
the head-up display of the vehicle.
[0010] An adapted grid structure is represented in FIG. 3 and
explained in detail based on the description of FIG. 3.
[0011] According to an exemplary embodiment, the grid structure can
comprise a geometrical form, in particular a hemisphere. In other
words, the grid structure forms a virtual model of a hemisphere or
similar. Alternatively, the grid structure can also comprise a
different geometrical form to a hemisphere such as, for example, a
cone, a frustrum, a cube, a cuboid, a cube having considerably
rounded edges, a cuboid having considerably rounded edges, a
pyramid, a cylinder and/or a sphere. An advantage of this
embodiment can be that computing capacity within the parking
assistance system can be saved with the aid of a simple geometrical
form and, consequently, the production costs of the parking
assistance system can be reduced.
[0012] In an exemplary embodiment of the invention, the image
evaluation unit can be designed to adapt the geometrical form, by
means of bending or similar, to the orientation of the other
vehicle. In other words, the geometrical form is adapted such that
it corresponds to the surroundings of the vehicle. This can be
effected in particular by means of a bending process of the
geometrical form or another reshaping process such as, for example,
cutting out, enlarging, decreasing, rotating and/or distorting. The
advantage of this embodiment can be that the geometrical form can
be adapted by means of simple computing operators such as, for
example, bending and, consequently, the presentation of the
surroundings of the vehicle can be simplified, without committing
other resources of the parking assistance system. A possible
embodiment of the presentation including the geometrical form is
represented in FIG. 2 and explained in detail in the associated
description of the figure.
[0013] According to an exemplary embodiment, the grid structure can
additionally comprise a generic vehicle model. In other words, a
generic vehicle model is positioned in the grid structure, which
comprises a geometrical form, in order to consequently be able to
present the surroundings of the vehicle in an improved manner. The
generic vehicle model can be a two-dimensional and/or
three-dimensional model which presents, in its outer contour, an
idealized model of the other vehicle. Alternatively, a type of the
other vehicle can be established, wherein the generic vehicle model
can be adapted, based on information from a database, to the type
of the other vehicle. The image recorded by the camera can be
projected onto the generic vehicle model so that the presentation
of the surroundings of the vehicle can be improved since optical
artifacts due to missing distance information can no longer appear.
In FIG. 3, a possible embodiment of the generic vehicle model,
which is arranged in the geometrical form, is shown.
[0014] According to an exemplary embodiment of the invention, the
image evaluation unit can be designed to adapt the generic vehicle
model, by means of scaling, movement and/or rotation, to the
orientation of the other vehicle. In other words, the generic
vehicle model within the grid structure is manipulated such that it
corresponds to an orientation of the other vehicle. This
manipulation can in particular be carried out by a scaling, moving
and/or rotating. By means of these operators such as, for example,
rotating the generic vehicle model, the surroundings of the vehicle
can be adapted very precisely to the grid structure, in particular
to the generic vehicle model, so that the presentation is clearly
improved and, consequently, the ergonomics of the parking
assistance system can be increased.
[0015] According to an embodiment, the image evaluation unit can be
designed to adapt the generic vehicle model in the geometrical
form, by means of scaling, movement and/or rotation, to the
orientation of the other vehicle. In other words, the generic
vehicle model within the geometrical form, which is for example a
hemisphere, can be scaled, moved and/or rotated in order to achieve
an optimized presentation of the surroundings of the vehicle. In
other words, a positioning of the generic vehicle model within the
geometrical form is consequently possible so that both the
geometrical form and the generic vehicle model can be adapted to
the surroundings of the vehicle, in particular on the basis of one
another, in order to clearly increase the presentability of the
surroundings of the vehicle.
[0016] According to an exemplary embodiment, the image evaluation
unit can be designed such that regions of the other vehicle, which
are not captured by the camera, are established by means of an
estimating function and are projected onto the generic vehicle
model. In other words, the function of the image evaluation unit is
that the regions which cannot be captured by the camera such as,
for example, a roof of the other vehicle, are established with the
aid of the estimating function. The estimating function can, for
example, include the camera establishing the color of the other
vehicle or the paintwork of the other vehicle and projecting the
established color or paintwork likewise onto the roof of the
generic vehicle model of the other vehicle. This can have a
beneficial effect on the user's perception and, consequently,
increase the ergonomics of the parking assistance system.
[0017] According to an exemplary embodiment, the image evaluation
unit can be designed to predict regions, which are not captured by
the camera, in order to completely overlay the grid structure with
a texture. In other words, a grid structure which is, for example,
a sphere, can be completely overlaid with a texture with the aid of
the image evaluation unit since the image evaluation unit, based on
exemplary weather information, overlays the upper part of the
sphere with a texture based on the weather information. For
example, the weather function describes a clear sky so that the
image evaluation unit predicts a clear sky in the grid structure.
This can bring with it the advantage that the user has a better
feel for the presentation of the surroundings of the vehicle and,
consequently, the ergonomics of the parking assistance system is
improved.
[0018] According to an exemplary embodiment of the invention, the
image evaluation unit for determining the orientation of the other
vehicle can be designed to recognize a bottom surface in the image.
Furthermore, the image evaluation unit can be designed to identify
two wheels of the other vehicle in the image and to establish a
circumferential contour of the wheels in each case. In addition,
the image evaluation unit can be designed to form an intersection
between the bottom surface and the circumferential contour by
establishing the point on the circumferential contour of the wheel
closest to the camera. In other words, the orientation of the other
vehicle can be effected with the aid of an image evaluation method,
as just described, wherein the bottom surface, in particular a road
or similar, is first established in the image. Two wheels of the
other vehicle can then be identified in the image and then a
circumferential contour of the wheels can be established or
deduced. In this case, it is assumed that the wheels of the other
vehicle are fundamentally lined up orthogonally to the bottom
surface, which has been recognized in the image. On the basis of
the circumferential contour, an intersection between the bottom
surface and the circumferential contour is established by selecting
the point in the circumferential contour which is located nearest
to the camera. This can bring with it the advantage that, based on
characteristic features such as, for example, of the wheels, the
orientation of the other vehicle can be established quickly and
reliably so that an improved presentation of the vehicle
surroundings can be guaranteed. A possible embodiment of the
establishment of the intersections and, consequently, of the
orientation of the other vehicle is shown in FIG. 4 and described
in the associated description of the figure. In an alternative
embodiment, other characteristics of the other vehicle can also be
used, based on which the orientation of the other vehicle can be
determined.
[0019] According to an exemplary embodiment, the image evaluation
unit can further be designed to perform a plausibility check of the
bottom surface, the wheels, the circumferential contour, the
intersections and/or the orientation of the other vehicle. In other
words, the parking assistance system is in a position to check the
information captured by it based on predefined parameters and/or
experimental values. For example, the image evaluation unit can
check the establishment of the wheels of the other vehicle so that
it is guaranteed that the first and the second wheel belong to the
same vehicle. This can bring with it the advantage that the
reliability of the presentation of the surroundings of the vehicle
is increased.
[0020] According to an exemplary embodiment, the image evaluation
unit can be designed to establish a front region and/or rear region
of the other vehicle and to orientate the grid structure on the
basis of the front region and/or the rear region. In other words,
the image evaluation unit is in a position to establish the front
and the rear of the other vehicle in order to adapt the generic
vehicle model of the other vehicle in accordance with the contour
of the front section and the rear section of the other vehicle, so
that a more realistic presentation of the other vehicle in the
surroundings of the vehicle can be achieved.
[0021] Another aspect relates to a method for presenting the
surroundings of a vehicle which can have the following steps:
[0022] recording an image of the surroundings of the vehicle,
[0023] presenting the surroundings of the vehicle by means of a
grid structure, [0024] determining an orientation of another
vehicle depicted in the image, [0025] adapting the grid structure
on the basis of the orientation of the other vehicle, [0026]
projecting the image onto the adapted grid structure.
[0027] In other words, an image of the surroundings of the vehicle
can be recorded. To present the surroundings of the vehicle, a grid
structure can be used or presented to a user, in particular by
means of a display or a head-up display. Furthermore, the
orientation of the other vehicle can be determined by establishing
information in which the other vehicle is depicted and,
consequently, an orientation of the other vehicle can be evaluated.
On the basis of the orientation of the other vehicle, the grid
structure for presenting the surroundings can be adapted so that
the grid structure corresponds to the actual surroundings of the
vehicle. Additionally, the image which was recorded can be
projected onto the adapted grid structure. This can bring with it
the advantage that sensors which establish the distance between the
vehicle and the other vehicle can be dispensed with. In addition,
the experience of the user, who has the surroundings of the vehicle
presented to him, can be improved.
[0028] According to an exemplary embodiment, the method can further
have the steps of: [0029] recognizing a bottom surface in the
image, [0030] identifying two wheels of the other vehicle in the
image, [0031] establishing a circumferential contour of the wheels,
[0032] forming an intersection between the bottom surface and the
circumferential contour by establishing the point on the
circumferential contour of the wheel closest to the camera, [0033]
determining the orientation of the other vehicle on the basis of
the intersection.
[0034] In other words, the orientation of the other vehicle can be
effected with the aid of a recognition of the bottom surface in the
image. Furthermore, two wheels of the other vehicle in the image
can be identified and a circumferential contour of the wheels can
be established. An intersection can then be formed or established,
wherein the intersection is the intersection between the bottom
surface and the circumferential contour, which is nearest to the
camera. The orientation of the other vehicle can be determined with
the aid of the two intersections which can each stand for a wheel
of the other vehicle. It is assumed that the wheels are oriented
orthogonally to the bottom surface. This can bring with it the
advantage that the orientation of the other vehicle can be
established based on image information and, consequently, expensive
sonar or lidar sensors can be dispensed with. A possible embodiment
of how an intersection can be formed is shown in FIG. 4 and is
further explained in the associated description of the figure.
[0035] According to an exemplary embodiment, the method can further
have the steps of: [0036] configuring a geometrical form, in
particular a hemisphere, [0037] modifying the geometrical form, in
particular by means of bending or similar, on the basis of the
orientation of the other vehicle in order to configure the adapted
grid structure.
[0038] In other words, a geometrical form, which can be for example
a hemisphere, is adapted by means of bending or similar such that
the geometrical form corresponds to the surroundings of the
vehicle. The geometrical form is modified on the basis of the
orientation of the other vehicle so that artifacts, which result
due to the absence of distance information between the vehicle and
the other vehicle, can be reduced and, consequently, the
presentation of the surroundings of the vehicle is improved for the
user.
[0039] According to an exemplary embodiment of the invention, the
method can further have the steps of: [0040] forming a generic
vehicle model, [0041] positioning the generic vehicle model in the
geometrical form, [0042] adjusting the generic vehicle model, by
means of scaling, movement and/or rotation, on the basis of the
orientation of the other vehicle in order to configure the adapted
grid structure.
[0043] In other words, a generic vehicle model, which is a
two-dimensional or three-dimensional model, is positioned in the
geometrical form such that it corresponds to the orientation of the
other vehicle in the virtual depiction of the surroundings. The
generic vehicle model can be adapted or adjusted by means of
scaling, movement and/or rotation so that it corresponds to both
the contour and the orientation of the other vehicle and,
consequently, an adapted grid structure is configured. This can
bring with it the advantage that the process of pulling the vehicle
into or out of a parking space is simplified by the improved
presentation of the surroundings. A possible embodiment of the
positioning of a generic vehicle model in a geometrical form is
shown in FIG. 3 and is further explained in the associated
description of the figure.
[0044] Another aspect of the invention relates to a program unit
which, if it is run in a parking assistance system, instructs the
parking assistance system to perform the steps of the method, as
described above and below.
[0045] Another aspect of the invention relates to a
computer-readable medium, on which a program unit, as described
above and below, is stored.
[0046] These and other features of the invention are explained with
reference to the embodiments described below.
BRIEF DESCRIPTION OF THE FIGURES
[0047] FIG. 1 shows a parking assistance system according to an
exemplary embodiment;
[0048] FIG. 2 shows a schematic representation of the parking
assistance system according to an exemplary embodiment;
[0049] FIG. 3 shows a schematic representation of the parking
assistance system according to an exemplary embodiment;
[0050] FIG. 4 shows a schematic embodiment of the parking
assistance system according to an exemplary embodiment;
[0051] FIG. 5 shows a flow chart in order to illustrate steps of a
method for presenting the surroundings of a vehicle according to an
exemplary embodiment.
[0052] The figures are merely schematic and not to scale. In the
figures, the same, similarly acting or similar elements can be
provided with the same reference numerals.
DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS
[0053] FIG. 1 shows a parking assistance system 100 for a vehicle
200, designed to present surroundings of the vehicle, wherein the
parking assistance system 100 has at least one camera 102 designed
to record an image in particular of the other vehicle 300. The
camera 102 comprises a detection region 103. The image evaluation
unit 106 can be designed to predict, for example, the color of the
other vehicle 300 on components of the other vehicle 300, which are
located outside the detection region 103. The parking assistance
system 100 uses a grid structure to present the surroundings of the
vehicle 200 for a user. The parking assistance system 100 can
further have an image evaluation unit 106 designed to determine an
orientation 302 of another vehicle 300 depicted in the image.
Furthermore, the image evaluation unit 106 can be designed to adapt
the grid structure 104 on the basis of the determined orientation
302 of the other vehicle 300. The image evaluation unit 106 can
also be designed to project the image onto the adapted grid
structure 108. FIG. 1 further shows the parking assistance system
100 which is arranged in the vehicle 200. Another vehicle 300 is
located next to the vehicle 200. The vehicle 200 comprises a camera
102 which records an image which can be utilized to present the
surroundings 400 of the vehicle 200. Additionally, the vehicle 200
comprises an image evaluation unit 106 as well as a
computer-readable medium 500. The other vehicle 300 comprises an
orientation 302 which can in particular be established on the basis
of the position of the vehicle 200.
[0054] FIG. 2 shows a schematic representation of the grid
structure 104 which presents the surroundings 400 of the vehicle
200. The image recorded by the camera 102 can be projected onto the
grid structure 104 and/or the adapted grid structure 108 and the
resulting model can be displayed to a user on a display.
[0055] A schematic representation of an adapted grid structure 108
is shown in FIG. 3, wherein the adapted grid structure can be
modified both in its form and a generic vehicle model 304 can be
provided in the adapted grid structure 108. The orientation of the
generic vehicle model 304 corresponds to the orientation 302 of the
other vehicle 300.
[0056] FIG. 4 shows a schematic representation of the establishment
of an intersection 312. The parking assistance system 100, which
can be provided in the vehicle 200, has a camera 102. Another
vehicle 300 is located next to the vehicle 200. The vehicle 300
stands on a bottom surface 306. The other vehicle 300 stands in
particular on its wheels 308. It can be assumed that the wheels 308
stand orthogonally on the bottom surface 306. The image evaluation
unit 106 can be in a position to establish a circumferential
contour 310 of the wheels 308. Likewise, the image evaluation unit
106 can be in a position to determine the orientation 302 of the
other vehicle 300 by establishing the intersections 312. The
intersections 312 can be established in that the point on the
circumferential contour 310 of the wheels 308 closest to the camera
102 is established. In addition, the camera 102 can establish a
front region 316 and a rear region 314 of the other vehicle 300.
The generic vehicle model 304 can be adapted in its contour or
appearance to the front region 316 and/or the rear region 314.
[0057] FIG. 5 shows a flow chart in order to illustrate steps of a
method for presenting the surroundings 400 of a vehicle 200
according to an exemplary embodiment. The method 600 includes
recording at S1 an image of the surroundings 400 of a vehicle. The
surroundings 400 are presented at S2 using a grid structure. An
orientation of another vehicle 300 depicted in the image is
determined at S3. The grid structure is adapted at S4 on the basis
of the orientation of the other vehicle 300. The image is projected
at S5 onto the adapted grid structure. A bottom surface of the
image is recognized at S6. Two wheels of the other vehicle 300 are
identified at S7. At S8, a circumferential contour of the wheels is
established. An intersection is formed at S9 between the bottom
surface and the circumferential contour of the wheel closest to the
camera. The orientation of the other vehicle 300 is determined at
S10 on the basis of the intersection. A geometrical form, such as a
hemisphere, is configured in S11. The geometrical form is modified
at S12, which may be by bending or the like, on the basis of the
orientation of the other vehicle 300 in order to configure the
adapted grid structure. At S13, a generic vehicle model is formed,
and the generic vehicle model is positioned in the geometrical form
at S14. At S15, the generic vehicle model is adjusted by scaling,
movement and/or rotation, on the basis of the orientation of the
other vehicle 300 in order to configure the adapted grid
structure.
[0058] Moreover, it is pointed out that "having" and "comprising"
do not exclude any other elements and the indefinite article "a"
does not exclude a plurality. It is further pointed out that
features, which have been described with reference to one of the
above exemplary embodiments, can also be used in combination with
other features of other exemplary embodiments described above.
Reference numerals in the claims are not to be deemed to be
restrictions.
* * * * *